CN106888504B - Indoor position fingerprint positioning method based on FM and DTMB signals - Google Patents
Indoor position fingerprint positioning method based on FM and DTMB signals Download PDFInfo
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Abstract
The invention discloses an indoor position fingerprint positioning method based on a frequency modulation signal (FM) and a terrestrial digital television broadcasting signal (DTMB). The method comprises the following steps: selecting sampling points according to indoor environment, selecting different frequencies of FM and DTMB signals as reference frequencies, recording the intensity information of signals on the reference frequencies of the sampling points, and constructing a received signal intensity indication (RSSI) fingerprint database; and acquiring RSSI fingerprint information of the to-be-positioned site FM and DTMB signals, and matching the optimal position information according to a joint positioning algorithm. The invention uses FM and DTMB signals with stable signal strength as positioning signals, and has wide coverage range and low maintenance cost; the invention adopts different frequencies as references, overcomes the influence of the movement of personnel and objects on the positioning precision, and improves the anti-interference performance of the system; the combined positioning algorithm provided by the invention increases the diversity of positioning information, effectively counteracts partial errors and realizes indoor high-precision positioning.
Description
Technical Field
The invention relates to a high-precision positioning method for determining the spatial position of an indoor environment based on utilizing position fingerprints of FM and DTMB signals.
Background
Currently, with the rapid development of wireless communication technology and the popularization of intelligent mobile terminals, location Based Services (LBS) are also continuously developed. In the outdoor situation, satellite positioning systems (GNSS) are the dominant positioning technology because of their high accuracy (typical errors generally not exceeding 10 m) and low cost. In the aspect of indoor positioning, due to building shielding, multipath interference, low GNSS signal strength and other reasons, the satellite positioning technology based on arrival time or arrival angle can generate great multipath errors in indoor positioning. In indoor environments, each point in space has a unique signal strength corresponding to it. The location fingerprint positioning technology based on the Received Signal Strength (RSSI) utilizes the specificity of the indoor environment to signal fading, and can realize indoor accurate positioning by comparing the actually measured signal strength with the prior signal strength in a database. The Wi-Fi signal becomes a preferred signal of the position fingerprint positioning technology by comprehensively considering the factors such as the area covered by the signal and the deployment cost.
However, the Wi-Fi signal is found to have great disadvantages in positioning practice. First, the coverage of a single Wi-Fi signal source is limited, and the location fingerprint positioning technology requires a certain number of signal sources (not less than three) to ensure positioning accuracy, which greatly increases the cost of equipment deployment. Secondly, the frequency of Wi-Fi signals is about 2.4GHz and just coincides with the resonance frequency of water, and 70% of human body components are water, so that the received Wi-Fi signal intensity is easily influenced by walking of people and even weather, and the positioning result is disturbed. Many researchers are currently abroad trying to use frequency modulated broadcast (FM) instead of Wi-Fi as a positioning signal. The FM signal has stable intensity and very wide coverage range, and the frequency range where the FM signal is positioned is not easy to interfere, so the FM signal is a very ideal positioning signal.
Foreign related researchers have been able to use FM signals alone to achieve positioning accuracy on the same order of magnitude (< 10 m) as Wi-Fi signals. At present, research and rarely report on the localization by using FM signals in China, which is mainly influenced by different domestic and foreign conditions. The number of acceptable FM signal sources in the same foreign area is large, the distribution is wide, and the method is favorable for improving the accuracy of FM indoor positioning. The FM broadcasting in China is uniformly transmitted by the designated transmitting station, and the receivable FM signals in the same area are transmitted by the same signal transmitting tower, so that the indoor positioning accuracy is lower by utilizing the FM signals in China.
Aiming at the defects of Wi-Fi indoor positioning and the national conditions of China in the aspect of FM signal transmission, the invention provides a novel combined positioning system formed by simultaneously using digital television terrestrial broadcasting (DTMB) signals and FM signals, and improves the indoor positioning precision. The DTMB signal is sent out by a television signal transmitting tower, the frequency of the DTMB signal is much higher than that of the FM signal, and the center frequency of two frequency bands of the DTMB signal is 660MHz and 740MHz, and the wavelength is between 0.41m and 0.45m by taking Tianjin area as an example. Electromagnetic wave signals of this wavelength are refracted at the corners of the building. Therefore, when the positioning target rotates through the rotation angle, the propagation length of the DTMB signal can be obviously changed, and the RSS value of the signal can be greatly changed, so that the positioning of the target is facilitated. Considering the complex situation in the building, introducing DTMB signals would greatly improve the accuracy of FM signal localization.
Disclosure of Invention
In view of the defects of the various methods, the invention provides an indoor position fingerprint positioning method based on FM and DTMB signals, which overcomes the limitation and instability of the traditional positioning by utilizing Wi-Fi signals, solves the problem of low precision of taking the FM signals as single positioning signals, and realizes indoor high-precision positioning.
The technical scheme for realizing the invention is as follows:
the method determines the spatial position of the to-be-positioned point of the indoor environment by receiving intensity information of FM and DTMB signals at different frequencies, and comprises the following specific steps:
(1) Selecting sampling points according to indoor environments, and selecting different frequencies of FM and DTMB signals as reference frequencies;
(2) Receiving FM and DTMB signals at each sampling point by using an antenna, recording the intensity information of the signals on a reference frequency, and constructing an RSSI fingerprint database of the FM and DTMB signals;
(3) Receiving FM and DTMB signals at a to-be-positioned point by using an antenna, and recording intensity information of the signals on a reference frequency to obtain RSSI fingerprint information of the FM and DTMB signals at the to-be-positioned point;
(4) And matching RSSI fingerprint information of the to-be-positioned site FM and DTMB signals with an RSSI fingerprint database through a joint positioning algorithm to obtain a positioning result.
Further, the FM signals are uniformly transmitted by the appointed transmitting station, the receivable FM signals in the same area are all from the same signal transmitting tower, and the frequency range of the FM signals is from 87.5MHz to 108MHz.
Further, the different frequencies of the FM signal and the DTMB signal in step (1) are selected according to the channel environment. FM and DTMB signals all contain a plurality of frequencies, the signal intensity on each frequency is not suitable for positioning of a specific channel environment, and if intensity information of all frequencies is put into an RSSI fingerprint database, the calculation amount is increased, the later matching of fingerprint information is affected, and the efficiency of a system is reduced. Therefore, according to the difference of the transmission loss and the diffraction loss of signals with different wavelengths to the obstacle, each frequency value of the FM signal and the DTMB signal is converted into the wavelength, and the conversion formula is as follows: λ=c/f, where c is the speed of light, which has a value of 299792458m/s. And selecting signals with wavelengths larger than the maximum size of the obstacle and signals with wavelengths smaller than the minimum size of the obstacle to perform optimal combination.
Further, according to the invention, the intensity information of the FM signal and the DTMB signal at different frequencies is expressed as a vector, N sampling points are selected in the area, the signal intensity of the received P reference frequencies is measured at each point, and then the signal intensity of the r sampling point is expressed as:
wherein the method comprises the steps of
The average value after Q measurements for the ith frequency, i.e. +.>
Furthermore, the joint positioning algorithm in the step (4) combines two mutually independent information, namely deterministic information and probabilistic information. Obtaining the certainty information of the positioning result by the neighbor reference points; and obtaining probability information of the positioning result according to probability distribution of the signal intensity. And giving different weight values to the two kinds of information to obtain a final positioning result. The specific formula is as follows:
loc＝ω 1 loc 1 +ω 2 loc 2
wherein loc 1 Is the deterministic information of the positioning result, loc 2 Is probabilistic information of the positioning result omega 1 And omega 2 The weights of the two information are respectively.
Further, the certainty information of the present invention is obtained by comparing the actual measured value with the prior measured strength of the position, and the specific implementation manner is as follows: and estimating Euclidean distances from the to-be-positioned point to all sampling points, and selecting the nearest K distances, wherein the points corresponding to the K distances are neighbor reference points. Meanwhile, K neighbor reference points are given different weight values in consideration of the difference between the K distances and the signal intensity measured in real time.
Further, the probabilistic information described in the present invention is estimated based on a probabilistic model, and the specific implementation manner is: measuring the signal intensity of a sampling point FM and DTMB signal intensity for a plurality of times and estimating the signal intensity distribution of the point; during positioning, the position of the to-be-positioned point is used as an independent random variable, and the position with the maximum occurrence probability of the measured intensity is estimated as a positioning result by analyzing the occurrence probability of the measured signal intensity.
According to Bayesian formula, when the measured signal strength is rss, the positioning position is LOC r Probability P (LOC) r |rss) is:
where P (rss) is the probability of measurement value rss, P (LOC) r ) P (rss|LOC) is the probability that the site to be localized will appear at LOC r ) Is LOC r Probability of points occurring rss intensity.
Fitting the distribution of the signal intensity of each sampling point by using Gaussian distribution:
where Q is the number of samples actually measured, RSS rq Compliance with N (rss) r Sigma) normal distribution.
Compared with the prior art, the indoor positioning method provided by the invention has the following advantages:
(1) The locating signals FM and DTMB adopted by the method have wide coverage range, stable signal strength and difficult interference in frequency range, and compared with Wi-Fi signals, the method has stronger locating stability and lower maintenance cost; compared with the FM signal used alone, the method has higher positioning precision.
(2) When the RSSI fingerprint database of the FM and DTMB signals is constructed, the workload of the system is simplified by selecting different frequencies of the signals, the influence of the movement of personnel and objects on the positioning accuracy of the system is overcome, and the anti-interference performance of the positioning method is improved.
(3) The invention combines deterministic information and probabilistic information, the two information mechanisms are different, the errors of the two information mechanisms are mutually independent, and the diversity of positioning information can be effectively increased by jointly utilizing the two information, partial errors can be effectively counteracted, and the stability of the positioning method can be improved.
(4) The method is suitable for any environment capable of receiving FM and DTMB signals at the same time, and overcomes the defects that the existing method is limited to indoor environment and has small coverage.
Drawings
FIG. 1 is a flow chart of an indoor position fingerprint positioning method based on FM and DTMB signals;
FIG. 2 is a graph of the difference in propagation paths of signals at different wavelengths;
fig. 3 is a flow chart of a joint positioning algorithm.
Detailed Description
The method of the present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in fig. 1, the indoor position fingerprint positioning method based on FM and DTMB signals specifically includes the following steps:
(1) And selecting sampling points according to the indoor environment, and selecting different frequencies of FM and DTMB signals as reference frequencies.
For a determined indoor positioning environment, two-dimensional modeling is conducted on the space in consideration of the specificity of signal intensity of each point of the space and actual positioning requirements, the environment is divided equidistantly to form a grid shape, and the spacing distance is determined according to the indoor structure and the specific positioning requirements.Taking the central position of the grid as a sampling point, establishing a coordinate system to obtain two-dimensional position coordinates (x, y) of the sampling point, and enabling the serial numbers of the sampling points to correspond to the positions one by one, wherein the r-th sampling point is expressed as: p (P) r (x r ，y r ) R=1, 2,..n, N is the total number of sampling points.
The selection of FM and DTMB signal reference frequencies is an important premise for constructing a reasonable and efficient RSSI fingerprint database. FM and DTMB signals all contain a plurality of frequencies, not the signal intensity on each frequency is suitable for a specific channel environment, and if the intensity information of all frequencies is put into an RSSI fingerprint database, the calculation amount is increased, the later matching of fingerprint information is affected, and the efficiency of the system is reduced. Therefore, according to the difference of the transmission loss and the diffraction loss of signals with different wavelengths to the obstacle, the frequency with larger difference in the receiving range is selected as the reference frequency from the frequencies of the FM signal and the DTMB signal.
Converting each frequency value of FM and DTMB signals into wavelength, wherein a conversion formula is as follows: λ=c/f, where c is the speed of light, which has a value of 299792458m/s.
In indoor environments, the size of the obstacle is typically 2 to 3 meters. As shown in fig. 2, signals of different wavelengths have different propagation paths when encountering an obstacle. In the invention, the frequency range of the FM signal is from 87.5MHz to 108MHz, the wavelength range is between 2.8m and 3.5m, the electromagnetic wave with the length can not generate refraction when encountering the obstacle smaller than 3 m, the signal loss is smaller, the signal intensity change is not obvious enough, and the accurate positioning is not facilitated. The frequency of the DTMB signal is much higher than that of the FM signal, for example, in Tianjin area, the center frequency of two frequency bands of the DTMB signal is 660MHz and 740MHz, the wavelength of the DTMB signal is between 0.41m and 0.45m, the signal can be refracted when encountering an obstacle larger than 2 meters, the signal loss is larger, and the signal strength change is larger.
Because the indoor channel environment is very complex, when signals with different wavelengths are selected, too many or too few signals can have adverse effects on the positioning result. Through multiple experiments, a signal with a wavelength larger than the maximum size of the obstacle is selectedAnd a signal having a wavelength less than the smallest dimension of the obstruction. Therefore, the invention selects a part of reference frequencies in the FM signal and the DTMB signal respectively and combines the two. The selected reference frequency is denoted as F l I=1, 2,..p, where P is the number of reference frequencies selected.
(2) And receiving FM and DTMB signals at each sampling point by using an antenna, recording the intensity information of the signals on the reference frequency, and constructing an RSSI fingerprint database of the FM and DTMB signals.
When receiving FM and DTMB signals at sampling points, because the frequency difference between the DTMB signals and the FM signals is large, an antenna with a receiving frequency range containing the two signals is selected for receiving, and the sampling points are measured for a plurality of times, the average value is obtained, and the standard deviation is calculated.
The measured intensity information of the FM and DTMB signals at different frequencies is represented as a vector, each item of which represents the signal intensity mean of one frequency. Selecting N sampling points in the area, measuring the signal intensity of the received P reference frequencies at each point, and expressing the signal intensity of the r point as follows:
wherein the method comprises the steps of
The average value after Q measurements for the ith frequency, i.e. +.>
Sampling point position P obtained in step (1) r (x r ，y r ) And the signal intensity RSS obtained in the step r Standard deviation sigma r Together, a fingerprint database is constructed.
(3) And receiving FM and DTMB signals at the to-be-positioned point by using an antenna, and recording the intensity information of the signals on the reference frequency to obtain RSSI fingerprint information of the FM and DTMB signals at the to-be-positioned point.
In an actual positioning environment, at a to-be-positioned point, receiving FM and DTMB signals by using an antenna with a receiving frequency range containing the FM and DTMB signals, recording intensity information of the signals on a reference frequency, measuring at each frequency for a plurality of times, and obtaining the average value of the signals. The RSSI fingerprint information of the to-be-measured point is expressed as:
wherein the method comprises the steps of
And (5) taking the average value after multiple measurements for the ith frequency of the point to be measured.
(4) And matching RSSI fingerprint information of the to-be-positioned site FM and DTMB signals with an RSSI fingerprint database through a joint positioning algorithm to obtain a positioning result.
The joint location algorithm combines deterministic information with probabilistic information, the process of which is shown in fig. 3.
The deterministic information is obtained by comparing the actual measured value with the prior measured intensity of the position, and the specific implementation mode is as follows: and estimating Euclidean distances from the to-be-positioned point to all sampling points, and selecting the nearest K distances, wherein the points corresponding to the K distances are neighbor reference points. Meanwhile, K neighbor reference points are given different weight values in consideration of the difference between the K distances and the signal intensity measured in real time. The specific implementation formula is as follows:
where rss is a measure of the signal strength,
for a priori estimation of signal strengthValue LOC k Is the actual position of the nearest neighbor reference point, K is the number of selected nearest neighbor reference points, D k Is the euclidean distance between the pending site and the neighboring reference point.
The signal strength in the indoor environment is influenced by the Rayleigh fading, the deterministic information is difficult to resist the influence caused by the Rayleigh fading, and the positioning is performed only by using the information, so that the effect is not ideal, and the probability information is introduced.
The probability information is estimated based on a probability model, and the concrete implementation mode is as follows: measuring the signal intensity of a sampling point FM and DTMB signal intensity for a plurality of times and estimating the signal intensity distribution of the point; during positioning, the position of the to-be-positioned point is used as an independent random variable, and the position with the maximum occurrence probability of the measured intensity is estimated as a positioning result by analyzing the occurrence probability of the measured signal intensity.
According to Bayesian formula, when the measured signal strength is rss, the positioning position is LOC r Probability P (LOC) r |rss), can be calculated as follows:
where P (rss) is the probability of measurement value rss, P (LOC) r ) P (rss|LOC) is the probability that the site to be localized will appear at LOC r ) Is LOC r Probability of points occurring rss intensity. Considering that the signals at each frequency are independent of each other, the likelihood probability at the sampling point can be represented by the product of likelihood probability functions corresponding to k frequencies:
fitting the distribution of signal intensities at each frequency point by Gaussian distribution, i.e., P (rss) l |LOC r ) Expressed as:
where Q is the number of samples actually measured, LOC r Measuring position RSS rq Compliance with N (rss) r Sigma) normal distribution.
The distribution situation of the sampling points after being influenced by the Rayleigh fading can be estimated through Gaussian regression, and then the adverse effect caused by the Rayleigh fading can be overcome by utilizing probabilistic information for positioning, but the information between the positioning points and the adjacent points cannot be fully utilized, so that the anti-interference capability is poor.
The invention adopts a joint positioning algorithm, and fuses deterministic information and probabilistic information. The two kinds of information are different in generation mechanism, and the introduced errors are mutually independent, so that the diversity of positioning information can be effectively increased by fusing the two kinds of information, partial errors can be effectively counteracted, and the positioning stability is improved. The fusion formula is:
loc＝ω 1 loc 1 +ω 2 loc 2 (8)
wherein loc 1 Is the deterministic information of the positioning result, loc 2 Is probabilistic information of the positioning result omega 1 And omega 2 The weights of the two information are respectively.
Matching the RSSI fingerprint information obtained in the step (3) with the RSSI fingerprint database established in the step (2) to obtain the certainty information and the probability information of the positioning result respectively, and calculating the final positioning result by using a fusion formula.
The foregoing is merely illustrative of the present invention and is not intended to limit the application of the present invention, but all equivalent implementations of the present invention are within the scope of the following claims.
Claims (6)
1. The indoor position fingerprint positioning method based on the FM and DTMB signals is characterized by comprising the following steps of:
1) Selecting sampling points according to indoor environments, and selecting different frequencies of FM and DTMB signals as reference frequencies;
2) Receiving FM and DTMB signals at each sampling point by using an antenna, recording the intensity information of the signals on a reference frequency, and constructing an RSSI fingerprint database of the FM and DTMB signals;
3) Receiving FM and DTMB signals at a to-be-positioned point by using an antenna, and recording intensity information of the signals on a reference frequency to obtain RSSI fingerprint information of the FM and DTMB signals at the to-be-positioned point;
4) And matching RSSI fingerprint information of the to-be-positioned site FM and the DTMB signal with a fingerprint database through a joint positioning algorithm to obtain a positioning result.
2. The indoor location fingerprint positioning method based on FM and DTMB signals according to claim 1, wherein the FM signals are uniformly transmitted by a designated transmitting station, and the FM signals receivable in the same area are all from the same signal transmitting tower.
3. The indoor location fingerprint positioning method based on FM and DTMB signals of claim 1, wherein the reference frequency is selected based on a channel environment.
4. The indoor location fingerprint positioning method according to claim 1, wherein the signal strength values of the FM and DTMB signals at the reference frequency are represented by a vector, and the signal strength value of the r-th sampling point is represented as
Wherein N is the total number of sampling points selected in the region, P is the number of reference frequencies selected for each sampling point, ">
The mean value of the signal intensity after the measurement is carried out for a plurality of times on the ith reference frequency.
5. The indoor position fingerprint positioning method based on FM and DTMB signals as claimed in claim 1, wherein the joint positioning algorithm combines deterministic information and probabilistic information of positioning, and the deterministic information of positioning results is obtained from neighbor reference points; obtaining probability information of a positioning result according to probability distribution of signal intensity; and giving different weight values to the two kinds of information to obtain a final positioning result.
6. The indoor location fingerprint positioning method based on FM and DTMB signals according to claims 1-5, wherein the method is applicable to any environment where FM and DTMB signals can be received simultaneously.
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| CN107843260A (en) * | 2017-10-27 | 2018-03-27 | 上海工程技术大学 | A kind of low-altitude unmanned vehicle positioning navigation method based on electromagnetism finger print information |
| CN109379701B (en) * | 2018-11-26 | 2020-07-10 | 华中科技大学 | Positioning method with error calibration function and gateway equipment |
| CN112822625A (en) * | 2019-11-18 | 2021-05-18 | 南开大学 | FM and DTMB signal fingerprint positioning system based on multimodal Gaussian distribution model |
| CN112911528A (en) * | 2019-11-18 | 2021-06-04 | 南开大学 | DTMB and FM signal indoor fingerprint positioning system method based on compressed sensing |
| CN111965600A (en) * | 2020-08-14 | 2020-11-20 | 长安大学 | Indoor positioning method based on sound fingerprints in strong shielding environment |
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